diff --git a/seat_car_control/config/control.yaml b/seat_car_control/config/control.yaml index f3c5235b693bb09061d3732358b6eb2b4c89d063..e539b1a94feb0321ba7b8b8a48c5c6861f084c90 100644 --- a/seat_car_control/config/control.yaml +++ b/seat_car_control/config/control.yaml @@ -15,12 +15,11 @@ axel_distance: 0.26 wheel_distance: 0.165 wheel_diameter: 0.063 - steering_topic: /manual_control/steering - speed_topic: /manual_control/speed - stop_topic: /manual_control/stop_start - yaw_topic: /model_car/yaw - revolutions_topic: /model_car/revolutions - twist_topic: /model_car/twist + steering_topic: /steering + steering_fb_topic: /steering_angle + speed_topic: /speed + yaw_topic: /yaw + twist_topic: /twist zero_steer_angle: 0.0 steer_coeff_a: 0.1343 steer_coeff_b: -0.9429